What paperwork should we file?

My 21 y.o. daughter has a 16 month old baby by a 33 y.o. man. I just found her 1 week ago after 12 years,as well as finding out that she had a baby, with this man, unmarried, he's not working, has beaten her on several occasions, and all 3 are living with his parents, and don't have a car. She is working. Come to find out that she is in the neighboring state, and it takes me 3 hours to drive there. I have already located a place for her and the baby in my city. Legally, the only thing that has been established is the baby's last name -he signed the birth certificate. She doesn't like the living situation, and I would like to help her, but, when I go to "swoop" her up out of there, I want to make sure that I do it right, because this "cigarette-ash" has threatened to take the baby away from her. I would like for her to be able to establish some kind of legal custody, so that he cannot come and TAKE THE BABY FROM HER. Can anyone tell me what forms will need to be filed with the court? Or, what steps need to be taken? Please, any advice, or referrals will be greatly appreciated, as soon as possible. Thank you for taking the time to read.